JP2019082003A - Direction control system of shield machine - Google Patents

Abstract

To provide a direction control system for a shield machine, capable of controlling the drilling direction of the shield machine by a simple operation while ensuring high reliability.SOLUTION: A direction control system of a shield machine according to this invention comprises a direction control device, and the direction control device that calculates a recommended force point recommended as a working force point of jack thrust from combined force of a recommended horizontal force point and a recommended vertical force point in order to make the shield machine dig along the planned linear shape, includes: regression analysis result acquisition means in which the regression analysis of the actual stroke difference and the actual horizontal force point obtained from the digging management/linear management device and the regression analysis of the actual pitching angle difference and the actual vertical force point respectively can be performed a plurality of times while changing the number of data; and point position calculating means by which the recommended horizontal force point is calculated based on the regression analysis result of the actual stroke difference and the actual horizontal force point based on the data number appropriately selected among the plurality of regression analysis results obtained by the regression analysis result acquisition means, and a recommended vertical force point is calculated based on a regression result of the actual pitching angle difference and the actual vertical force point based on the selected number of data.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a direction control system of a shield machine for controlling the direction of the shield machine.

  For the purpose of labor saving of shield construction and simplification of operation etc., for example, Patent Document 1 uses the action force point when the jack thrust by the shield jack is applied to the shield digging machine, the digging direction of the shield digging machine is SUMMARY OF THE INVENTION A directional control system and method of a shield machine for controlling is disclosed.

  In Patent Document 1, a plurality of shield machines including a disk-shaped cutter head and a plurality of shield jacks disposed along the edge of the cutter head, the shield jacks positioned at the left and right ends in a front view The difference between the amounts of expansion and contraction is set as the stroke difference, and the inclination angle of the shield machine in the upper and lower end direction is set as the pitching angle.

  Then, the current stroke difference and pitching angle of the shield machine which has been drilled and stopped for a predetermined section are measured, and the operator brings the shield machine closer to the planned linear shape for the next predetermined section drilling work. The target stroke difference and the target pitching angle are appropriately set. After this, the SJ gravity center position in the left and right end direction of the cutter head is obtained from the difference between the target stroke difference and the current stroke difference (hereinafter referred to as the SJ stroke difference change amount) and the past "learned by actual results". Similarly, from the difference between the target pitching and the current pitching angle (the amount of change in the pitching angle) and the past "learned by actual results", the SJ gravity center position in the upper and lower end direction of the cutter head is determined.

  The combined SJ center-of-gravity position obtained by combining the SJ center-of-gravity positions in each of the two directions described above is an action force point of jack thrust that is optimal for bringing the shield machine closer to the planned linear. Therefore, the digging work for the next predetermined section may be appropriately selected from the jack pattern which is the center of gravity position closest to the combined SJ center of gravity position, and resumed with the selected jack pattern.

Unexamined-Japanese-Patent No. 10-266769 gazette

  According to Patent Document 1, it is possible to control the direction of the shield machine using a computer while taking human judgment such as setting a target stroke difference and a target pitching angle.

  However, in Patent Document 1, the “Study track by performance” used when obtaining the SJ center of gravity position in the left and right end direction and the SJ center of gravity in the upper and lower end direction of the cutter head sets a reference range of control results beforehand From the present to the past 30 rings, etc.), the results of regression analysis performed using control actual data in this reference range are used.

  For this reason, the case where the range which caught ground condition correctly as a reference range of control results is not necessarily set up is assumed, and the subject of the reliability of the synthetic SJ gravity center position obtained by synthesizing the SJ gravity center position of said 2 directions Will occur. In addition, when the ground changes during digging, if the reference range of the control results is too wide, it may be considered that the response to the ground change may be delayed.

  The present invention has been made in view of such problems, and the main object of the present invention is to provide a shield machine capable of controlling the direction in which the shield machine is advanced by a simple operation while securing high reliability. Provides a directional control system of

  In order to achieve such an object, the direction control system of the shield machine according to the present invention is a shield machine for controlling the direction of the shield machine by using the point of action of the jack thrust acting on the shield machine. A direction control system, wherein the horizontal travel through the axis of the shield machine, calculated from the actual stroke difference and the actual pitching angle difference of the shield machine and the jack thrust, each time a predetermined section is drilled A drilling management / linear management device that calculates and records actual horizontal force points on the direction line and actual vertical point on the vertical direction, and recommended force points recommended as the action points to dig the shield machine along the planned linearity A direction control device which is calculated from the resultant force of the recommended horizontal force point and the recommended vertical force point, and the direction control device Regression analysis of the actual stroke difference and the actual horizontal force point obtained from the logical / linear management device, and the regression analysis of the actual pitching angle difference and the actual vertical force point respectively, multiple regression analysis results obtained by changing the number of data And said plurality of regression analysis results obtained by said regression analysis result acquisition means, said recommended horizontal force point based on a result of regression analysis result of said actual stroke difference and said actual horizontal force point based on said data number appropriately selected. In addition, force point position calculation means for calculating the recommended vertical force point on the basis of the actual pitching angle difference based on the data number appropriately selected and the regression result of the actual vertical force point is provided. .

  According to the direction control system of the shield machine of the present invention described above, regression analysis result acquisition means, regression analysis of actual stroke difference and actual horizontal force point and regression analysis of actual pitching angle difference and actual vertical force point The number of data is changed and implemented multiple times. Thus, for example, when the section to be drilled is immediately after a change occurs in the ground, each of the plurality of regression analysis results is used to calculate the recommended horizontal force point and the recommended vertical force point. It is possible to select the regression analysis result calculated in this way, and to calculate the recommended force points that correspond quickly to the change of the ground.

  In the direction control system of a shield machine according to the present invention, in the force point position calculation means, the number of data that has obtained the highest correlation coefficient in the regression analysis result used for calculating each of the recommended horizontal force point and the recommended vertical force point. Selecting the result of the regression analysis based on.

  According to the direction control system of the shield machine of the present invention described above, when calculating the recommended horizontal force point and the recommended vertical force point, the regression analysis result based on the number of data obtained the highest correlation coefficient among the plurality is adopted. Do. This makes it possible to increase the reliability of the recommended power point recommended as a working power point for digging the shield machine along the planned line, and to improve the accuracy of direction control of the shield machine.

  Also, the operator of the shield machine refers to the recommended power point set by the direction control system, and in consideration of the performance of the shield machine etc., the target power point of the jack thrust to be applied to the shield machine. It is possible to determine and simplify the work related to the control of the shield machine.

  According to the present invention, it is possible to set a recommended force point recommended as a working force point for digging the shield drilling machine so that the shield drilling machine does not deviate significantly from the planned linearity, so high reliability is ensured by a simple operation. In addition, it is possible to control the drilling direction of the shield machine.

BRIEF DESCRIPTION OF THE DRAWINGS It is a figure which shows the outline of the direction control system of the shield machine in embodiment of this invention. It is a figure showing composition of a direction control device in an embodiment of the invention. It is a flowchart which shows the operation | work procedure at the time of controlling the digging direction of the shield machine in embodiment of this invention. It is a figure which shows the shield jack in embodiment of this invention, and a proven horizontal force point and a proven vertical force point. It is a figure which shows the deviation amount with respect to plan linear of the shield machine in embodiment of this invention. It is a figure which shows the regression analysis result of the performance stroke difference and performance horizontal force point in embodiment of this invention. It is a figure which shows the regression analysis result of the performance pitching angle difference and the performance perpendicular | vertical force point in embodiment of this invention. It is a figure which shows the soil condition of the ground excavated with the shield machine in embodiment of this invention (the 1). It is a figure which shows the soil condition of the ground excavated with the shield machine in embodiment of this invention (the 2). It is a figure which shows the soil condition of the ground excavated with the shield machine in embodiment of this invention (the 3). FIG. 6 is a diagram showing a recommended horizontal force point, a recommended vertical force point and a recommended force point in the embodiment of the present invention. It is a figure which shows the recommendation power point in embodiment of this invention, a target power point, and an effective point.

  The direction control system of the shield construction machine of the present invention controls the construction direction of the shield construction machine using the point of action of jack thrust acting on the shield construction machine. Hereinafter, the direction control system of the shield machine according to the present invention will be described in conjunction with the configuration of the shield machine with reference to FIGS.

  As shown in the side view of FIG. 1 and the front view of FIG. 4, the shield machine 10 has a cylindrical outer shell 11 provided with a cutter disk 25 on its tip end surface and an inner peripheral surface of the outer shell 11. And a plurality of shield jacks 14 provided in the circumferential direction. These use the jack thrust of the shield jack 14 with the segment 13 covering the inner wall surface of the tunnel 12 assembled inside the outer shell 11 as a digging reaction force while rotating the cutter disk 25 to dig ground. The operation for propelling the shield drilling machine 10 is repeated, and drilling work is sequentially performed.

  Further, the shield machine 10 is internally provided with a computer and is a shield control device 15 that executes drive control of the shield machine 10, and as a measuring device for performing position survey and measurement of the shield machine 10, When the automatic surveying function is provided, at least a laser oscillator 16, a light wave range finder 17, and a laser target 18 are provided. When the automatic surveying function is not provided, the position of the shield machine 10 is calculated with the gyro and the stroke meter in the horizontal direction and the water level meter and the pitching meter in the vertical direction.

  Such a measuring device is connected to a digging management / linear management device 20 comprising a computer provided on the ground, and in the digging management / linear management device 20, various data during digging work obtained from the above-mentioned measuring device Collection, calculation, recording, and accumulation, and monitoring the operation status of the shield machine 10. In addition, the amount of deviation from the planned linear L based on the position / attitude of the shield machine 10 and the construction plan is grasped, and the linear management of the shield machine 10 is performed.

  The direction control system 100 of the shield machine 10 includes the above-described digging management / linear management device 20 and a direction control device 30 connected thereto, and as shown in FIG. An input device 31, an output device 32, a central processing unit 33, a file device 34, and a main memory 35 are provided.

  The input device 31 is, for example, a keyboard, a scanner, a switch or the like, and the output device 32 is, for example, a display or a printer. The central processing unit 33 is a computer having a CPU, a GPU, a ROM, a RAM, a hardware interface, and the like. The file device 34 is a storage device comprising a semiconductor memory or a hard disk drive, and will be described in detail later, but at least a survey file 341, a regression analysis result storage file 342, and a jack pattern table file 343 are stored.

  The main memory 35 temporarily stores programs and data executable by the central processing unit 33, and the details will be described later, but at least the actual target value calculation unit 351, regression analysis result acquisition unit 352, emphasis point A position calculation unit 353 and a jack pattern selection unit 354 are provided. The direction control device 30 configured as described above is connected to the shield control device 15 via the multiplex transmission device master station 21 and the multiplex transmission device slave station 22.

  In this manner, the shield control device 15 and the direction control system 100 are linked via the direction control device 30 so that the shield machine 10 does not greatly deviate from the planned linear L based on the construction plan. Every time 10 digs a predetermined section, the drilling direction is controlled. Specifically, the recommended force point recommended as a point of action of the jack thrust acting on the shield drilling machine 10 is calculated using the direction control system 100 in order to dig the shield drilling machine 10 along the planned linear L, using this direction control system 100 The digging direction of the shield machine 10 is controlled by the shield controller 15 using the power point.

  Hereinafter, the details of the direction control system 100 and the direction control method of the shield machine 10 will be described according to a flow chart shown in FIG. In the present embodiment, each time the shield machine 10 drills one ring of the segment 13 as a predetermined section, control of the direction of digging is performed so that the shield machine 10 does not deviate from the planned linear L. Take the case as an example and explain.

<STEP1>
After drilling the ground for one ring of the segment 13 with the shield machine 10, the shield machine 10 is temporarily stopped, the position of the shield machine 10 is measured using the above-mentioned measuring device, and the digging management / linear management device Record at 20.

  Further, based on the measurement result obtained from the above-described measurement device, the digging management / linear management device 20 calculates and records the actual stroke difference, the actual pitching angle and the actual pitching angle difference of the shield machine 10.

  The stroke difference is the amount of rotation in the horizontal direction of the shield machine 10 in the horizontal plane, and as shown in FIG. 4, the extension of the pair of shield jacks 141 positioned at the left and right ends in the front view of the shield machine 10 Calculated from the quantity. And the actual stroke difference means the stroke difference after digging one ring portion of the segment 13.

  The pitching angle is calculated from the stroke difference of the shield jacks 142 located at the upper and lower ends of the plurality of shield jacks 14 as shown in FIG. 4 or is measured by a measuring device equipped in the shield machine 10. The actual pitching angle refers to the pitching angle after digging one ring of the segment 13, and the actual pitching angle difference refers to the difference between the pitching angle before and after digging one ring of the segment 13.

  Furthermore, as shown in FIG. 4, from the jack thrust of the shield jack 14 acting on the shield machine 10, the actual horizontal force point H1 on the horizontal line passing through the axis O of the shield machine 10, and the actual vertical force point P1 on the vertical line. Is calculated and recorded by the digging management / linear management apparatus 20.

  The horizontal force point is a point of action on the horizontal direction line passing through the axis O of the shield machine, calculated based on the resultant force of the jack thrust, of each of the plurality of shield jacks 14 acting on the shield machine 10, and the actual horizontal force point H1 is , Point of horizontal force after drilling one ring of the segment 13. Also, the vertical point of force is the action on the vertical line orthogonal to the horizontal line passing through the axis O of the shield machine, calculated based on the resultant force of the jack thrust of each of the plurality of shield jacks 14 acting on the shield machine 10 The actual vertical force point P1 is the vertical force point after drilling one ring of the segment 13.

  The data of the position of the shield machine 10, the actual stroke difference, the actual pitching angle, the actual pitching angle difference, the actual horizontal force point H1 and the actual vertical force point P1 are sent to the digging management / linear management device 20 every time they are measured or calculated. In addition to being recorded, they are transmitted to the direction control device 30, and are stored and accumulated in the survey file 341 of the file device.

  The above-described work is repeated, and after each data has been accumulated in a predetermined quantity, the work after <STEP 2> is started. In the present embodiment, the above operation is repeated from the start of digging until each ring of 30 segments of segment 13 is accumulated, but the accumulated quantity of each data is the ground condition of the construction site and the shield machine. Depending on the performance of 10, etc., it may be determined appropriately.

<STEP2>
From the current position of the shield machine 10, the amount of deviation Dh, Dp relative to the planned linear L of the shield machine 10 is calculated by the digging management / linear management device 20. The deviation amount Dh is a horizontal deviation amount of the shield machine 10 with respect to the planned linear L as shown in FIG. 5 (a), and the deviation Dp is a shield with respect to the planned linear L as shown in FIG. 5 (b). This is the amount of deviation of the machine 10 in the vertical direction.

  The current position of the shield machine 10 corresponds to the latest value of the position information of the shield machine 10 stored in the survey file 341 of the file device 34. Further, the deviations Dh and Dp from the planned linear L of the shield machine 10 are also stored and accumulated in the survey file 341 of the file device 34 by being transmitted from the excavation management / linear management device 20 to the direction control device 30. .

  Based on the calculated deviation amounts Dh and Dp, the field staff prepares a progress plan for returning the shield machine 10 deviated from the planned linear L to the planned linear L in the next digging operation, and proceeds The advancing target value of the stroke difference and the pitching angle for realizing the plan, or the advancing target value of the pitching angle difference (the difference between the current value of the pitching angle and the advancing target value of the pitching angle) is calculated.

  Specifically, while creating a predicted linear shape for returning along the planned linear L, the bending amount of the shield machine 10 for calculating the predicted linear shape is calculated. The jack thrust of the shield jack 14 required to generate the calculated amount of bending is calculated as a vertical and horizontal vector amount. From the calculation result, the optimum stroke difference and pitching angle for generating this jack thrust or the pitching angle difference (difference between the current value of pitching angle and the optimum pitching angle for generating jack thrust) is calculated. . These are set as an advancing target value of the stroke difference and an advancing target value of the pitching angle or an advancing target value of the pitching angle difference, and are input to the direction control device 30 via the input device 31.

<Real target value calculation unit>
When the progress target value is input to the direction control device 30, the central processing unit 33 receives the command of the actual target value calculation unit 351 stored in the main memory 35, and is stored in the survey file 341 of the file device 34 The current value of the stroke is taken out, and the actual target value of the stroke difference is calculated from the difference between this and the progress target value. Similarly, the present value of the pitching angle stored in the survey file 341 of the file device 34 is taken out, and this and the traveling target value (pitching angle difference or pitching angle) are referred to, and the actual target value of the pitching angle difference (target Calculate the pitching angle difference).

  The current values of the stroke difference and the pitching angle correspond to the latest values of the actual stroke difference and the actual pitching angle stored in the survey file 341 of the file device 34, respectively.

<Regression Analysis Result Acquisition Unit>
Next, the central processing unit 33 receives a command from the regression analysis result acquisition unit 352 stored in the main memory 35, and uses the actual stroke difference and the actual horizontal force point H1 stored in the survey file 341 of the file device 34. Run both regression analysis multiple times with different data numbers. Similarly, using the actual pitching angle difference and the actual vertical force point P1 stored in the survey file 341 of the file device 34, the regression analysis of both is performed a plurality of times while changing the number of data.

  In the present embodiment, the operation of <STEP 1> is repeated 30 times until <STEP 2> is started, and the actual stroke difference and the actual horizontal force point H1 are accumulated by 30 rings of the segment 13. Therefore, the amount of data used for regression analysis is three patterns of 10 rings, the most recent 20 rings, and all 30 rings continuously from the latest data among the data for 30 rings Preparations were performed and regression analysis was performed on each of the three patterns.

  The regression analysis results of the actual stroke difference and the actual horizontal force point H1 are, for example, graphs shown in FIGS. 6A to 6C, and the regression analysis results of the actual pitching angle difference and the actual vertical force point P1 are, for example, FIG. The graphs are output to the output device 32 as graphs (a) to (c). At the same time, the regression analysis results of the actual stroke difference and the actual horizontal force point H1 and the regression analysis of the actual pitching angle difference and the actual vertical force point P1 are also stored in the regression analysis result storage file 342 of the file device 34.

<Power point position calculation unit>
The central processing unit 33 stores the power point position calculation unit stored in the main memory 35 for each of the result of regression analysis of the actual stroke difference and the actual horizontal force point H1 and the result of regression analysis of the actual pitching angle difference and the actual horizontal force point P1. Receive a command of 353 and select a regression line based on the number of data that has the highest correlation coefficient among the three patterns.

  Thereafter, in order to dig the shield drilling machine 10 back along the planned linear L in the next digging work, the recommended horizontal force point H2 for setting the recommended force point recommended as the acting force point of the jack thrust is selected. Calculation is performed by applying the actual target value of the stroke difference calculated by the actual target value calculation unit 351 to the regression line of the stroke difference and the actual horizontal force point H1. Similarly, the actual target value of the pitching angle calculated by the actual target value calculation unit 351 with the recommended vertical force point P2 for setting the recommended force point set to the regression line of the selected actual pitching angle difference and the actual vertical force point P1 Calculated by applying the pitching angle difference).

  For example, looking at FIGS. 6 (a) to 6 (c) for the correlation coefficients between the actual stroke difference and the actual horizontal force point H1, regression analysis is performed using data for the last 20 rings of FIG. 6 (b). The correlation coefficient R of is as high as 0.75, which indicates the correlation well. Therefore, in the present embodiment, a regression line obtained from data of the last 20 rings is selected to calculate the recommended horizontal force point H2.

  On the other hand, with regard to the correlation coefficient between the actual pitching angle difference and the actual vertical force point P1, a regression analysis was performed using data of the most recent 30 rings of FIG. 7C, considering FIGS. 7A to 7C. The correlation coefficient R in the case is the highest at 0.75, which indicates the correlation well. Therefore, in the present embodiment, a regression line obtained from data of the latest 30 rings is selected to calculate the recommended vertical force point P2.

  Such a selection operation of the regression line is, for example, as shown in FIG. 8, when the shield machine 10 is digging a uniform ground, or immediately after the ground change as shown in FIG. In the case of digging, it is preferable that the power point position calculating unit 353 automatically select one having the highest correlation coefficient among three patterns in which the quantity of data is changed as described above. As a result, the recommended horizontal force point H2 and the recommended vertical force point P2 can be calculated using a regression line that accurately reflects the characteristics of the local disc. Therefore, the reliability of the recommended force point set using these also becomes high, and it becomes possible to improve the accuracy concerning the direction control of the shield machine 10 using the recommended force point.

  Also, when the shield machine 10 digs a point after the ground changes as shown in FIG. 10, the shield machine 10 is obtained from the data for the last 10 rings whose ground property is in a uniform range The regression analysis result has a higher correlation coefficient than the regression analysis result obtained from the data for the last 30 rings. Then, the data for the last 10 rings more accurately reflects the characteristics of the ground after the change than the data for the last 30 rings. Therefore, by selecting regression analysis when regression analysis is performed using data for the last 10 rings, and calculating the recommended horizontal force point H2 and the recommended vertical force point P2, the recommended force points that respond quickly to changes in the ground It becomes possible to set

  In addition, the field staff or the operator of shield machine 10 comprehensively judges the current position of shield machine 10, the condition of the ground, and the calculation result output to output device 32, and the selection work of the regression line is an input device The best fit regression line via 31 may be selected manually.

<STEP3>
As described above, the regression line of the appropriately selected actual stroke difference and actual horizontal force point H1, the recommended horizontal force point H2 calculated from the actual target value of the stroke difference, and the actually selected actual pitching angle difference and actual vertical force point P1 The recommended vertical force point P2 calculated from the regression line of and the actual target value of the pitching angle difference (target pitching angle difference) is synthesized, and the recommended force point is determined as shown in FIG. These are stored not only in the output device 32 but also in the regression analysis result storage file 342 of the file device 34, and at the same time the control panel of the shield control device 15 via the multiplex transmission device master station 21 and the multiplex transmission device slave station 22 (Not shown).

  The operator of shield machine 10 refers to the recommended power point displayed on the control panel of shield control device 15, and in consideration of the performance and ground conditions of shield machine 10, as shown in FIG. A target power point is determined as an optimum power point so as to be returned to 10 along the planned linear L, and is input to the shield control device 15. As a result, it is possible to determine a target power point with stable accuracy at all times while minimizing the determination blur due to the skill difference of each operator.

  After that, when the shield control device 15 is equipped with a system capable of performing automatic selection of the shield jack 14 and automatic control of the jack synchronization pressure, it is only necessary to restart digging work of the shield machine 10 during operation. The power point of jack thrust acting on the shield machine 10 is automatically controlled to follow the target power point. Therefore, stable direction control can be performed on the shield machine 10.

  In addition, it can utilize for the automatic driving | operation technique of the shield construction machine 10 by not setting a target power point but employ | adopting a recommendation power point as an optimal action power point so that the shield construction machine 10 may return along plan linear L and follows.

  On the other hand, when the shield control device 15 does not have the above-described system related to the automatic control of the shield jack 14, the central processing unit 33 of the direction control device 30 is stored in the main memory 35. In response to a command from the jack pattern selection unit 354, the jack pattern table file 343 stored in the file device 34 selects a jack pattern whose action point is closest to the target point determined by the operator of the shield machine 10.

  Alternatively, the jack pattern table file 343 stored in the file device 34 may be output to the output device 32 of the direction control device 30, and an optimum jack pattern may be appropriately selected by the operator of the shield machine 10

  As described above, the information related to the selected jack pattern is output as a control signal to the shield control device 15 through the direction control device 30. As a result, the shield machine 10 is controlled by the shield control device 15 so that the effective point acting on the shield machine 10 approaches the target point of force after the ring 13 of the segment 13 is drilled.

  In the jack pattern table file 343 stored in the file device 34, a combination of a point of action of the jack thrust acting on the shield machine 10 and a jack pattern of the shield jack 14 for realizing the same is converted into a plurality of sets of data. Is stored.

  Also, through <STEP 2> and <STEP 3>, the stroke difference, pitching angle, and the difference between the pitching angle and the pitching angle before one ring of the shield machine 10 after digging by one ring of the segment 13 are respectively The actual stroke difference, the actual pitching angle, and the actual pitching angle difference are stored and accumulated in the survey management file 341 of the digging management / linear management device 20 and the file device 34.

  Similarly, the practical force points of the jack thrust acting on the shield machine 10 after advancing one ring of the segment 13 are, as the actual horizontal force point H1 and the actual vertical force point P1, the digging management / linear management device 20 and the file device 34. Stored and accumulated in the survey file 341 of

  The operations of <STEP 1> to <STEP 3> described above are repeated each time one shield of the segment 13 is drilled until the shield machine 10 reaches the target point.

  The direction control system 100 of the shield machine of the present invention is not limited to the above embodiment, and various modifications can be made without departing from the scope of the present invention.

  For example, in the present embodiment, for each of the actual stroke difference, the actual horizontal force point H1, the actual pitching angle difference, and the actual vertical force point P1, the quantity of data used for regression analysis is Three patterns were prepared: the last 10 rings, the last 20 rings, and the last 30 rings. However, the quantity of data is not limited to this, and the number of patterns of the quantity of data used for regression analysis may be set to any.

  Further, in the present embodiment, a regression line is adopted as a result of regression analysis used to calculate the recommended horizontal force point H2 and the recommended vertical force point P2, but the present invention is not necessarily limited thereto. An approximate curve such as an exponential approximate curve may be used.

DESCRIPTION OF REFERENCE NUMERALS 10 shield drilling machine 11 outer shell 12 tunnel 13 segment 14 shield jack 15 shield control device 16 laser oscillator 17 light wave distance meter 18 laser target

20 digging management / linear management device 21 multiplex transmission device master station 22 multiplex transmission device slave station

Reference Signs List 30 direction control device 31 input device 32 output device 33 central processing unit 34 file device 341 survey file 342 regression analysis result storage file 343 jack pattern table file 35 main memory 351 actual target value calculation unit 352 regression analysis result acquisition unit 353 force point position Calculation unit 354 Jack pattern selection unit

100 direction control system

Claims (2)

What is claimed is: 1. A direction control system for a shield machine, for controlling the direction of the shield machine using a point of action of a jack thrust acting on the shield machine, the direction control system of the shield machine,
Every time a given section is drilled, it is calculated at least from the actual stroke difference and actual pitching angle difference of the shield machine and the jack thrust, and is perpendicular to the actual horizontal force point on the horizontal line passing through the axis of the shield machine. A digging management / linear management device that calculates and records actual vertical force points on a directional line;
And a directional control device that calculates a recommended force point recommended as the action force point from the combined force of the recommended horizontal force point and the recommended vertical force point, in order to dig the shield machine along the planned alignment,
The direction control device
Regression analysis of the actual stroke difference obtained from the digging management / linear management device and regression analysis of the actual horizontal force point, and regression analysis of the actual pitching angle difference and the actual vertical force point, respectively, with multiple data changes A result acquisition means,
Among the plurality of regression analysis results obtained by the regression analysis result acquisition means, the recommended horizontal force point based on the result of the regression analysis result of the actual stroke difference and the actual horizontal force point based on the appropriately selected number of data; A shield digging machine comprising: power point position calculation means for respectively calculating the recommended vertical power point on the basis of the actual pitching angle difference based on the data number appropriately selected and the regression result of the actual vertical power point. Direction control system. In the direction control system of a shield machine according to claim 1,
The force point position calculation means is characterized in that the regression analysis result based on the number of data obtained with the highest correlation coefficient is selected for the regression analysis result used for calculating each of the recommended horizontal force point and the recommended vertical force point. Direction control system for shield machines.

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